3
Table 1.1 CGC-80 specifications
CGC-80 performance parameters.
Gripping force (per jaw)
20-80N
Opening/closing stroke (both sides)
0-10mm
Opening/Closing time
0.2s/0.2s
Weight
1.5kg
Position repeatability (both sides)
±0.03mm
Noise emission
< 50 dB
Ingress protection rating
IP67
Communication protocols
Modbus RTU(RS485), I/O
Nominal voltage
24V DC±10%
Nominal current
0.3 A
Peak current
1 A
In the actual gripping, you should take the gripping angle and gripping position into account.
The following right-angle coordinate system is established, and the corresponding directions
of the X-axis, Y-axis, and Z-axis are shown in Figure 1.2 below. The force perpendicular to the
gripped flat surface is used as Fz, the x-axis direction torque is Mx, the y-axis direction torque is
My, and the z-axis direction torque is Mz. The CGC-80 finger load table is shown in Table 1.2:
Figure 1.2 Finger load diagram
Table 1.2 CGC-80 Finger load.
CGC-80
Max allowable vertical load (static)
200N
Max allowable moment Mx (static)
2.5 N m
Max allowable moment My (static)
2 N m
Max allowable moment Mz (static)
3 Nm